Ball with trajectory control for reconnaissance or recreation

ABSTRACT

A ball with a housing suitable for being thrown or projected into an airborne trajectory, the ball capable of deforming a portion of the exterior surface of the housing for the purpose of controlling the direction of its airborne trajectory. Also disclosed is a ball with a housing suitable for being thrown or projected into an airborne trajectory with means for shifting its center of mass away from the center of the housing for the purpose of controlling the direction of its airborne trajectory. A golf ball with one or more deformable dimples is also disclosed.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 13/887,293, Ball with camera for reconnaissance or recreation,filed May 4, 2013, which is a continuation of U.S. patent applicationSer. No. 13/492,616, now U.S. Pat. No. 8,477,184, Ball with camera andtrajectory control for reconnaissance or recreation, filed Jun. 8, 2012,which is a continuation of U.S. patent application Ser. No. 12/772,198,now U.S. Pat. No. 8,237,787, Ball with camera and trajectory control forreconnaissance or recreation, filed May 1, 2010, which claims priorityfrom U.S. Provisional Patent Application 61/226,618, Ball with cameraand trajectory control for reconnaissance or recreation, filed Jul. 17,2009, and also, U.S. Provisional Patent Application 61/177,769,Recreational Ball with Trainable Camera, filed May 13, 2009, and also,U.S. Provisional Patent Application 61/174,994, Recreational Ball, filedMay 2, 2009. The entire contents of these applications are hereinincorporated by reference.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH DEVELOPMENT

Not applicable.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention has generally to do with spherical projectiles capable ofsensing their spatial location and orientation while in an airbornetrajectory, and more particularly a ball capable of using location andorientation information to move towards and capture images of aparticular ground-based subject of interest.

2. Description of Related Art

Projectiles with embedded cameras, including spherical ball-shapedcameras, exist in prior art with suggested uses for militarysurveillance, reconnaissance and general recreation.

Ball-shaped cameras with a 360-degree view around the circumference ofthe sphere exist in prior art.

The combination of a camera and a location-sensing unit, both embeddedin a projectile, is taught in prior art. Conventional model rockets areequipped with a camera and sensor triggered by a change in theorientation of the rocket body at the apogee of its trajectory.

Great Britain patent GB2444391 teaches of a resilient object, which canbe thrown or kicked, to a point of interest, capable of transmittingaudio and video information captured by an embedded camera. Thedescription of this resilient object teaches of the use of a GPS sensorand an orientation sensor to provide location information andorientation information, however no description is provided of how thesesensors are used for a meaningful capture of image data while the objectis airborne. This resilient object is further disadvantaged by itsinability to change its own trajectory. The inflatable housing and cubicshape of the preferred embodiment present impractical aerodynamicimpediments with respect to drag if a pitched or projected airbornetrajectory is desired.

Great Britain patent GB2407725 (A) describes a camera mounted inside aball. As with the resilient object of patent GB2444391, this ball isdisadvantaged by its inability to store and analyze successive frames ofcaptured image data. The ball is further disadvantaged by its inabilityto capture successive frames of image data captured while spinning orprecessing past a ground-based subject in order to produce a meaningfulvideo stream. This ball is further disadvantaged by its inability tochange its own trajectory.

Japan patent JP2001042420 describes a camera mounted inside animpact-resistant ball. This patent is disadvantaged by requiringexternal surface-mounted fins to ensure that the camera provides imagesfrom a desirable orientation.

The “Flee” camera conceived by Turkish designer Hakan Bogazpinar athttp://www.behance.net/hbogazpinar describes a camera mounted inside aball that takes pictures at customizable time intervals. This patent isdisadvantaged by requiring an external surface-mounted aerodynamic tailto ensure that the camera provides images from a desirable orientation.

The “Satugo” camera conceived by Danish designers Eschel Jacobsen andMads Ny Larsen at http://www.satugo.com/ describes a camera mountedinside a ball that is triggered on impact with a fixed surface or atpreset time intervals.

It is known in prior art, including in above references, that a ball cancontain a camera that captures one image or multiple snapshots in thecourse of its trajectory. It is known in prior art, including in abovereferences, that a ball can contain a camera that captures continuousvideo in the course of its trajectory. It is known in prior art,including in above references, that a ball can contain a camera thatstores images, which can be uploaded for viewing on a computer when theball is retrieved.

It is known in prior art, including in above references, that a ball cancontain a camera with logic for controlling the capture of photographsor video for a preset duration, or based on preset intermittent timeintervals over a portion of the course of its trajectory.

It is known in prior art, including in above references, that thecamera's orientation relative to its external environment can bestabilized and controlled during flight by aerodynamic means, such as byattachment with a fixed pair of tailfins mounted on the outer housing.

It is known in prior art, including in above references, that a cameramoving on an airborne trajectory may be triggered by an external signalfrom a transmitter.

It is known in prior art, including in above references, that a cameramoving on an airborne trajectory may be triggered by a switch thatsenses impact with a solid object.

It is known in prior art that a camera contained within a housing canoperate independent of the orientation of its own exterior housing,using mechanical gyroscopes or digital stabilization techniques. Suchmethods are employed in ordinary cell phones and digital cameras toremove jitter.

It is known in prior art that fixed perturbations on the exteriorsurface of a ball can alter the ball's aerodynamic profile. Dimples on aconventional golf ball such as shown in FIG. 1 improve performance bycreating a thin unseparated boundary layer of turbulent air between thesurface and the high-speed layer.

A golf ball dimple is of a critical size and contour so as to induce thecreation of a thin layer of turbulence between the ball's exteriorsurface and a high-speed layer of moving air, with a goal of producinglift for the longest possible trajectory. A dimple with a fixed depth ona golf ball produces an optimal result for a single aerodynamiccondition, and an acceptable sub-optimal result over a range ofaerodynamic conditions. Golf ball dimples produce an undesirable drag atlower windspeeds.

Similarly, the rigid ridges on the upper surface of a Frisbee flyingdisc produce a desirable increase in lift over a significant portion ofthe disc's airborne trajectory, but produce an undesirable increase indrag at other portions of the disc's trajectory. The ridges are notphysically changed in their size, number or shape during flight.

A conventional football is ellipsoid-shaped to eliminate bluff leadingand trailing surfaces ordinarily associated with sphere-shapedprojectiles, thus improving laminar flow from head to tail.

It is known in prior art that airborne projectiles can contain internallogic and mechanical systems that alter their own trajectories. Forexample, missiles may contain guidance systems and mechanical gyroscopesto control a flight path. It is known in prior art that airborneprojectiles can contain external aerodynamic systems that alter theirown trajectories. For example, missiles may contain electromechanicalfins to control a flight path.

Recreational balls such as so-called goof-balls contain spring-mountedweights or other simple mechanisms to shift the center of lift while inflight, creating either a spiraling or a randomly shifting trajectory.Such balls are disadvantaged by an inability to purposefully controltheir trajectory.

BRIEF SUMMARY OF THE INVENTION

The object of the invention is achieved by a hand-held ball that, whenthrown or projected into an airborne trajectory, senses its position andorientation to trigger an embedded camera with the purpose of capturingan image of a ground-based target subject, spatially transforms thecaptured image to a normal relative to the ground-plane, and providesthe image to the ball's user.

In another aspect of the invention, the ball compiles multiple capturedimages into a video flyby of the ground-based target subject.

In another aspect of the invention, the ball's on-board processorstitches multiple images captured at a moment in the trajectory into asingle panoramic view.

In another aspect of the invention, the ball's on-board processorcompiles multiple panoramic views into a viewable fly-through of theenvironment through which the ball traveled.

In another aspect of the invention, the ball contains a sensor to detectwhen the ball is both at its apogee and in an earth-facing orientationsuch that the camera is capable of capturing an image of theground-based target subject.

In other aspects of the invention, images captured in flight are storedin memory available in real-time to the ball's on-board processing unit,allowing the logic unit to apply knowledge gained from prior imagecaptures to decisions regarding the triggering of successive imagecaptures and trajectory changes.

In still other aspects of the invention, the ball's embedded camera isinstructed by the ball's on-board logic unit to vary capture resolution,providing low-resolution images for internal real-time analysis in orderto determine the appropriate moments in the ball's trajectory to capturehigh-resolution image information.

In a further aspect of the invention, the ball contains a range-findingsensor capable of triggering the capture of image data at a presetdistance from a target or point of impact.

In another aspect of the invention, the ball is capable of mechanicallyopening an aperture to its camera lens for image capture operations whenthe ball is safely in flight, and retracting the lens and protecting thecamera from shock prior to an impact.

In a further aspect, the object of the invention is achieved by a ballthat uses orientation and location information collected by embeddedsensors to actuate an embedded trajectory-changing mechanism capable ofmodifying the exterior surface of the ball in order to stabilize theball and move toward a point of interest. The mechanism may act incounter-revolution with the ball's rotation in order to create anaerodynamic condition at a virtual location relative to the ball'sexterior environment independent of the actual spiraling or spinningexterior surface.

In a further aspect, the object of the invention is achieved by a ballthat uses orientation and location information collected by embeddedsensors to actuate an embedded trajectory-changing mechanism capable ofshifting the center of mass of the ball in order to stabilize the balland move toward a point of interest. The mechanism may act incounter-revolution with the ball's rotation in order to create anaerodynamic condition at a virtual location relative to the ball'sexterior environment independent of the actual spiraling or spinningexterior surface.

In still another aspect of the invention, the ball's embedded camera hasa single aperture for image capture connected to a unified end of afused fiber optic bundle; and the fiber optic bundle providing the lenswith a multitude of distinctly separate images as the bundle branchesout to a series of independent fused fiber optic image capture points atthe exterior surface of the ball; and the ball's onboard processing unitcapable of matching each discrete image in the matrix to its respectivelocation on the ball's surface for the purpose of including or excludingimages derived from a particular orientation.

In another aspect of the invention, the ball's embedded processing unitis capable of producing a contiguous video by creating a compilation ofdiscrete frames captured from a single desired perspective available atdiscrete moments while the ball spirals through its trajectory, andotherwise ignores images available during the flight. The processingunit may sieve from a raw set of captured images in memory to create acompilation containing the target subject or the processing unit maytrigger the camera to capture only those images that are useful increating a compilation containing the target subject.

In another aspect of the invention, an image of the ground-based targetsubject is transmitted wirelessly from the ball to its ground-baseduser.

In another aspect of the invention, the ground-based user transmits thelocation of the ground-based target subject to a receiver on the ball,and the ball's on-board camera subsequently captures an image of thetarget.

In other aspects of the invention, the ball derives its locationinformation from an embedded impact sensor and processing unit that usesdata regarding the time of multiple impacts along a series of bounces topredict subsequent points in its path, and uses this information totrigger image capture at each successive apogee.

In other aspects of the invention, the ball contains a camera with adistance-calibrated focus and an onboard processing unit that analyzesthe frequency of a series of successive image captures to determine theball's distance from a subject.

In other aspects of the invention, the ball's embedded camera may betrained to capture images of a desired subject along its trajectory bythe transmission of location information to the ball prior to the ball'sflight. The data provided to the ball prior to its flight may beprovided by the transmission of location information by a training unit.

In other aspects of the invention, the training unit itself may be asecond ball, capable of being thrown over a desired subject andtransmitting location information to the ball containing the embeddedcamera, with the result being the capture of a series of images taken bythe ball with the embedded camera where the images are exclusively thoseof the subject at the location past which the training unit passedduring its flight.

In other aspects of the invention, the ball containing the embeddedcamera senses the starting location of its trajectory and subsequently,after being thrown, exclusively captures an image of the ground-basedsubject at the original location.

In still other aspects, the ball is weighted to produce a gyroscopicforce significant enough to maintain a repeatable spinning or precessingorbit of the camera's viewpoint around the ball's center of gravity.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 shows an exterior view of a golf ball of prior art; and

FIG. 2 shows the preferred embodiment of the ball of this invention inan assembled and an assembly view; and

FIG. 3 shows an assembled view and an interior view of an example ballof this invention, with fused fiber optic bundles capable of providing amatrix of images to a single aperture; and

FIG. 4 shows an interior view and an exterior view of an example golfball of this invention, with small perturbations extending outwardlyfrom the center of a few dimples in order to change the ball's airbornetrajectory; and

FIG. 5 shows two interior views and an exterior view of an example golfball of this invention with a shape-altering mechanism capable ofchanging the ball's airborne trajectory; and

FIG. 6 illustrates how the ball of this invention is capable ofcapturing images of a desired subject while spinning over the arc of anairborne trajectory and also shows two varying examples of image framescompiled into a video; and

FIG. 7 illustrates how raw image data available to the camera of thisinvention may be selected, scaled, rotated and offset to produce asequence of normalized images of a target subject.

DETAILED DESCRIPTION OF THE INVENTION

A ball capable of isolating image capture to a desired subject orperspective and further capable of changing its trajectory in order toimprove the capture of video or still images is made possible by theadvent of shock-resistant microelectronic GPS sensing packages,gyroscopes and multi-axis accelerometers and the availability ofinexpensive high-capacity storage and low-light, high-speed imagecapture electronics.

Because the ball of this invention describes the capture of images fromthe viewpoint of a smooth arc, a video produced by the ball issubstantially improved by comparison with conventional means for movinga camera. A movie captured by the ball of this invention would also beeasier and faster to produce than one that required the installation ofa dolly, a steadicam, a kite, or other unwieldy configuration. Lastly, amovie captured by the ball of this invention would represent a view ofenvironments unavailable to conventional cranes, helicopters orsurveillance equipment.

The preferred embodiment of the ball of this invention is shown at 200in FIG. 2 and in a assembly view at 210. Resilient housing 211 containscamera 212, and a microelectronic package within housing 213 comprisingan orientation detector, a GPS sensor, image storage memory, atransmitter and a processing unit. The processing unit monitors theorientation detector and triggers the camera to store an image when thecamera is facing a predetermined ground-based target subject and torotate the captured image to a fixed normal such as the earth's horizon.The GPS sensor enables the processing unit to trigger the images of theground-based target subject from a desirable perspective and also fordetermining optimal moments for image capture over the course of theball's airborne trajectory. The collection of stored images representingthe desired subject are compiled by the processing unit into a smoothfly-by video and transmitted to the ball's ground-based user.

Image Capture Over a Spiraling Trajectory

In the preferred embodiment of the ball of this invention, a processingunit within the ball creates a smooth, linear and continuous movingpicture video of a target subject produced while the embedded camera'saperture is spinning or spiraling around the ball's center of gravityand is moving through the arc of the ball's trajectory. The objective ofthis embodiment is to create a video that represents a camera's view ofthe ground-based target subject from the perspective of a single pointmoving along the ball's trajectory, with no apparent spinning orspiraling field of view.

Such an embodiment is made possible by the fact that a solid-statecamera can be thrown or projected into a spin within a pitched ball sothat it is viewing the same field of view at a frame rate approaching orexceeding an optimal video frame rate of approximately 1/30^(th) of asecond.

The preferred embodiment of the ball of this invention captures andnormalizes a smooth sequence of image frames in order to produce asequence of video image frames as illustrated at FIG. 6. As shown, theball has been thrown into a trajectory, and is spinning in an arcedtrajectory past a distant house. The state of the ball is shown at sixseparate successive moments in its trajectory, with the first at 610 andthe second at 620, then 630, 640, 650 and the last instant at 660. Thehouse past which the ball is traveling is shown at 600. An arrow next toeach instance of the ball indicates the direction of spin. Camera 611 inthe ball at 610 is not oriented in the direction of the house so theball's processing unit does not signal the camera to capture an imagewhen it is in this state. The camera in the ball at 620 is facing thegeneral direction of the house as shown by arrow 621, so the processingunit signals the camera to capture an image. Similarly, when the ballarrives at the positions shown at 630, 640 and 660, its camera is facingthe house as shown by respective arrows 631, 641 and 661.

The four images captured by the camera inside the ball when it is inpositions 620, 630, 640 and 660 are shown in two possible examples at670 and 680. As exemplary of the preferred embodiment of the ball ofthis invention at 670, the camera has captured four perspective viewswhile remaining generally fixed on the subject of image capture, namelythe house, and the processing unit has further rotated each capture tothe normalized orientation of the ground-plane. At 680, the camerainstead has captured a scanning view of the house, and the processingunit has further rotated each capture to the normalized orientation ofthe ground-plane. Both types of capture are possible because the ball isspinning fast enough to provide views of the passing house. Theorientation sensor in the ball has a dual purpose, one being to providethe processing unit with the orientation of the ball for the purpose oflocating the target subject of image capture, and the second being toprovide the processing unit with the orientation of the ball relative tothe ground-plane so a series of successive captures can be normalized toa single plane.

In the preferred embodiment of the ball of this invention, the selectionof discrete frames for production of a smooth continuous video occurs asthe processing unit signals capture of discrete images at select momentsin time, only when the house is in the field of view, for example, andcompiles these select frames into a moving-picture video.

In an alternate embodiment, the processing unit selects a target imagefrom a plurality of images tagged with their respective orientation andposition information at the time of capture. The processing unit maythereby cull a meaningful subset of images by examining the stored setof images and respective tags to select a series of images of the targetsubject of image capture; and then normalize each image to apredetermined plane and compile the images into a moving-picture video.This embodiment enables the camera to capture image data independent ofthe processing unit, allowing the processing unit time analyze,normalize and transmit images at a slower rate than the capture rate.

Because the selection of images representing the ground-based target ofimage capture may either occur in real time wherein the camera istriggered at appropriate moments based on the ball's position andorientation, or may occur in a process of winnowing selections from aplurality of captured images stored with their respective orientationand position tag, it is anticipated that a number of innovationsdescribed herein may be applied to either image selection method.

As shown in FIG. 7, the normalization of images captured may require2-dimensional and 3-dimensional transformations by the sphere'sprocessing unit. Example captured data of the camera trajectory of FIG.6 is shown in raw form at 700, and in a normalized sequence of frames at750. Blank image frames 701 and 705 are representative of the camera'sviewpoint when the ball is at positions 610 and 650 in FIG. 6. The rawimage captured at position 620 in FIG. 6 appears at 702 in FIG. 7.Similarly, images captured at positions 630, 640 and 660 in FIG. 6appear in raw form at 703, 704 and 706 in FIG. 7.

The processing unit of this example normalizes images as shown at 750 inFIG. 7. The images available to the camera at positions 610 and 650 inFIG. 6 have been excluded by the processing unit because the processingunit was aware that the camera was not in a suitable disposition atthose points in the ball's trajectory. Images 702 and 703 required arotation, offset and scale operation to produce normalized images asseen respectively at 751 and 752. Image 704 required a rotation and anoffset to produce a normalized version at 753. Raw image 706 waspartially out of the camera's viewpoint, so the normalization processincluded only the available portion, normalizing the image by rotatingand offsetting the raw image to produce an acceptable frame at 754.

Normalization to rotate a captured image to a predetermined plane suchas a ground-plane is possible if the sphere includes an orientationsensor. Normalization to scale is possible using a variety oftechniques. For example, the sphere may have a distance-sensing unitsuch as a conventional auto-focus mechanism; or an embedded positionsensor and knowledge of the ground-based subject's absolute location; orimage processing means to recognize the target in the capture imageregardless of its size.

It is anticipated that missing image data such as the cropped rear ofthe house at 754, normalized from raw data at 706, may be restored usingdata from prior and subsequent captures.

In another embodiment of the ball of this invention, the camera ismounted on a motor shaft within the ball and spun at high speed,independent of the ball's exterior housing, so that when the ball isthrown past a subject the camera aperture is rotating at such high speedit is in position to face the subject for a quick still image capture atleast 1/30 times per second and potentially at much higher rates. Theresulting set of captured still image frames can be combined and shownat a frame rate of 1/30^(th) of a second to produce a smooth video, asif the aperture were panning continuously along the subject. It isanticipated in this embodiment that the motor speed must compensate forthe ball's own rotation and that such an adjustment is possible becausethe ball's rotation and in-flight data is available from the ball'sprocessing unit.

In another embodiment of the ball of this invention, the camera ismounted on a motor shaft, independent of the ball's exterior housing, sothat when the ball is thrown past a subject, the camera aperture isconstantly rotated within the ball to face the subject. It isanticipated in this embodiment that the motor speed must counter theball's own rotation and that such an adjustment is possible because theball's rotation and in-flight data is available from the ball'sprocessing unit.

It is anticipated that the above embodiments that require a movingcamera within a ball are also possible by a fixed camera with a movingaperture; or by a fixed camera and moving mirrors; or a fixed camerawith a multitude of apertures; or a fixed camera with a multitude offused fiber optic image bundles; or any other means for capturing asequence of images that correspond to particular locations along theball's trajectory.

Trajectory Trigger

A ball may be designed so its image capture capabilities and mechanicaltrajectory-changing capabilities are triggered by a processing unitwhich is aware of the ball's location in space during the course of itstrajectory, as well as its orientation in revolution.

In the present context, a trajectory trigger is a mechanical orelectronic processing unit contained within the ball of this invention,capable of sensing the ball's in-flight position and, based oninformation derived from the sensed information, is capable oftriggering an action, for example an image capture or atrajectory-changing mechanism.

At minimum, a trajectory trigger has at least a single sensor and alogic unit capable of signaling an action based on the state of thesensor.

Sensors employed by a trajectory trigger may, as examples, detect theball's absolute location relative to Earth using GPS data; or senserelative velocity or acceleration using accelerometers; or sensealtitude using an altimeter; or sense rotational velocity using agyroscope; or provide information describing the time between impactsderived from a motion sensor and a clock; or recognize spatialrelationships of external objects using an on-board camera. Combinationsof multiple sensors and processors may further be of benefit to atrajectory trigger, for example a timing chip combined with an altimeterto provide data for predicting the arrival of the ball at its apogee.

In practice, the action initiated by a trajectory trigger may be tosignal the photographic capture of an image at a precise moment in theball's trajectory; or to actuate a mechanical device which causes adesired change in trajectory; or both actions to stabilize the ball; orboth actions to redirect the ball for the purpose of capturing images ofa desired subject.

The ball of this invention may contain a plurality of trajectorytriggers to control image capture, camera stability and trajectoryguidance events. For this reason, the trajectory trigger is described asa separate logic unit from the camera or other on-board unit that istriggering. It is anticipated that the trajectory trigger and a cameramay be combined within the ball as a single package, however in thepresent context they are discussed separately.

The trajectory trigger may employ a variety of sensors in order todetermine the appropriate moment to trigger an event within the ball. Analtimeter and accelerometers may be used to detect when the ball is bothat its apogee and oriented such that the desired subject is in the fieldof view of an embedded camera.

The trajectory trigger may use a motion sensor to detect the ball'sinitial pitch, and a timer to store the time length of the ball'strajectory, and an impact sensor to sense a bounce, and the combinationthereof used to predict the point at which the ball reaches its apogeebetween successive bounces.

The trajectory trigger may use a motion sensor to detect the ball'sinitial pitch to initialize operations required during the ball'sairborne trajectory.

The trajectory trigger may use an impact sensor to initiate shutdownoperations, in order to conserve energy.

The trajectory trigger may use an accelerometer to determine the ball'sposition relative to its initial position when initially pitched, aswell as its orientation, velocity, rotation and/or acceleration while inflight.

The trajectory trigger may use a Global Positioning System (GPS) sensorto determine its own absolute position relative to the Earth, as well aspoint-to-point information to calculate velocity, acceleration and otherin-flight information.

The trajectory trigger may uses an antenna to detect and triangulateasynchronous energy waves, such as cell-phone microwaves or radiofrequency waves, to determine the ball's relative or absolute position,orientation, velocity and/or acceleration.

The trajectory trigger may use its own transmitter and receiver to sendand receive energy waves, such as infrared or radio frequency waves, todetermine the ball's position, orientation, velocity and/or accelerationby bouncing the waves off an external object and receiving a reflectedwave.

The trajectory trigger may receive information transmitted from aground-based unit that transmits the ball's position, orientation,velocity and/or acceleration. The trajectory trigger may request suchinformation from a ground-based unit, or may passively receive suchinformation.

The trajectory trigger may have direct access to read on-board memorycontaining an image captured by the ball's on-board camera, analyzingthe captured image and using the results of image analysis in subsequentlogic operations to determine when to capture a particularly desiredimage. The resolution of the images captured for analysis may be lowerthan the images captured for reconnaissance, and may be deleted by thetrajectory trigger once processed.

The trajectory trigger may analyze one or more captured images todetermine the ball's position, orientation or distance relative to asubject in the camera's field of view.

The trajectory trigger may compare successive frames of images capturedby the camera to determine the ball's current velocity or accelerationby comparing the movement of spatial information across the camera'sfield of view, or by comparing the change in frequency of the images asfocus increases or decreases.

The trajectory trigger may trigger the camera based on its own patternmatching or feature recognition on of one or more prior captured images.For example, the trajectory trigger can signal the camera to capture ahigh-resolution photograph when it detects a human face during itsanalysis of a series of prior low-resolution image captures. As anotherexample, the trajectory trigger can signal the camera to capture ahigh-resolution image when it detects the contrast between the earth andthe earth's horizon during the analysis of a series of low-resolutioncaptures.

The trajectory trigger may trigger the camera at a preset point in itsrange-finding capabilities, for example whenever the ball is exactlyfive feet away from a baseball batter, or whenever the ball is exactlyten feet away from the ground as it bounces down a street.

The trajectory trigger may trigger the camera at absolute points ordistance intervals in its trajectory, for example at preset GPScoordinates.

The trajectory trigger may trigger the camera at fixed measurementintervals in its trajectory, for example at preset GPS distances.

The trajectory trigger may trigger the camera at points in the ball'strajectory based on logic that allows the ball to learn about itsenvironment, and determine what images are uniquely important. Forexample, the ball can detect and identify repeating textures such aspavement below and sky above, thereby understanding its relationship tothe earth and also allowing it to isolate foreground images from thebackground environment.

In an inexpensive embodiment of the invention, the trajectory triggermay uses analog photocells or photodiodes to determine the ball'sorientation relative to the sky.

In an inexpensive embodiment of the invention, the trajectory triggermay use a gravity-sensing switch such as a mercury switch to signal thecamera when it senses that the camera lens is approximately aligned in adownward orientation.

In another embodiment of the invention, the ball contains a liquid thatsubstantially surrounds and contains the camera, to providestabilization as the ball is thrown or projected.

The ball may contains an inner ball which itself contains the electricaland mechanical components, and the inner ball is substantially isolatedfrom the outer ball by a friction-minimizing liquid which allows theinner ball to rotate freely in order to maintain a particularorientation different than that of the ball's exterior housing.

In another embodiment of the invention, an magnetic Ferro fluid existsin a layer between the ball's exterior housing and a separate,independent inner ball, and controlled from within the inner ball suchthat, when magnetically activated, provides a means to lock the innerball to a fixed position relative to the exterior housing of the ball,and when not electromagnetically activated, frees the inner ball so itcan rotate freely from the exterior housing.

An electric solenoid, electric motor or galvanometer may be used tocontrol the position of the camera within the ball.

A gyroscope may be used to maintain the camera's orientation independentof the exterior housing of the ball.

The ball may be weighted to create a gyroscopic force in order tostabilize the camera or to create a repeatable orbit of the camera as itspins or precesses around the ball's center of gravity. Such a weightmay create an axis around which the camera spins, with the viewpoint ofthe camera aligned with the axis. Images taken by the camera inalignment with an axis of spin could be rotated by the trajectorytrigger using an orientation sensor to normalize the images to a singleorientation.

An electric galvanometer may be used to control the position a mirrorwithin the ball, with the mirror's reflection reflecting the subjectimage toward the camera lens, the primary advantage of thegalvanometer/mirror combination being its rapid response to changes inthe ball's behavior.

The trajectory trigger may share the ball's position, acceleration andvelocity information with the camera's internal stabilizationelectronics to improve performance before the trajectory triggersubsequently signals the camera to capture and store a desired image.

It is anticipated that the ball may contains multiple cameras at variousorientations.

It is anticipated that the camera may capture discrete still images orcontinuous video images.

It is anticipated that the ball may contains means for capturing a360-degree panorama of its exterior environment. Means for creating apanorama may be provided by a single-360-degree image capture camera, bymultiple cameras, or by stitching multiple captured images, each of aportion of the scene, into a single panoramic image. An orientationsensor within the ball is used to normalize captured panoramic views toa single orientation such as a fixed horizon line. Multiple panoramicviews may be compiled in succession to create a three-dimensionalwalkthrough of the environment through which the ball passes.Three-dimensional panoramic data can be flattened to produce atwo-dimensional video of a pass-through of the ball's environment asviewed from a stable perspective and orientation.

In another embodiment of the invention, the camera lens is connected toone or more fused fiber-optic bundles, which provide access to imagesoutside of the ball. An example of the ball of this embodiment is shownat 300 in FIG. 3 and in a disassembled view at 310. At the core of theball, camera 311 has aperture 312. Fused fiber optic bundle 313 providesaperture 312 with a matrix of images arriving from one of numerousindividual, flexible, fused fiber optic bundles connected from pointsaround the spherical exterior surface of the ball to the camera at thecore of the ball. Exterior lens 314 focuses an image to be carried byfused fiber optic bundle 315 to aperture 312 for capture and storage bycamera 311. An on-board orientation sensor provides an on-boardprocessing unit with the ability to identify only those images capturedwhile their respective fiber optic endpoints were facing a desiredground-based target subject.

The fused fiber-optic enabled ball as illustrated in FIG. 3 may be usedin an alternative embodiment to capture a plurality of images at asingle moment in the ball's trajectory for the purpose of stitchingtogether a panoramic image. The on-board orientation sensor can providethe on-board processor with the ability to spatially transform eachimage captured to a fixed normal relative to the ground plane. A seriesof such panoramic images captured at successive moments over the arc ofthe ball's trajectory may be compiled into a viewable fly-through of thespace through which the ball traveled.

The trajectory trigger may signal the camera to take a picture at onemoment, for a still picture, or for a duration of time relative to apoint of interest along the ball's trajectory. For example, thetrajectory trigger may send an ON signal as the camera approaches itsapogee and OFF signal shortly thereafter, in order to capture a movingpicture video.

The trajectory trigger may signal the capture of a select set ofdiscrete, still images as the ball is spinning along its trajectory, atsingular points when the camera is facing in a desired orientation, sothat when the images are compiled in sequence into a moving-picturevideo, the video itself depicts a scene as if the camera were panningover it rather than spiraling past it. For example, a camera containedwithin a ball could be triggered to take a still image each time itslens was facing the ground below. As the camera moved along its airbornetrajectory, even while it was spinning within the ball an uncontrolledrotation, would only be triggered by the trajectory trigger when itslens was in a desirable orientation facing the ground below. When theset of discrete still images was combined together, the resulting videowould depict a panning view of the ground beneath the ball as it movedthrough its trajectory, as if the ball containing the camera was notspiraling. Because a recreational ball such as a golf ball has arotational velocity much faster than thirty revolutions per second, itis possible to capture images at a rate of at least 1/30^(th) of asecond each time a particular face of the golf ball is facing in acertain direction in order to produce a stable moving-picture at a framerate of 1/30^(th) of a second.

In an embodiment of the ball of this invention, the ball contains acamera which takes a continuous stream of still images over the courseof a spiraling trajectory; and the ball's flight data such as velocity,acceleration, position and rotation is also sensed and stored over thecourse of the trajectory; and each still image is paired withcorresponding flight data at the time the image was captured; and asubset of images is subsequently selected based on an algorithm thatuses a seed image taken at a particular perspective to find other imagestaken from a similar perspective over the ball's flight; and the set ofresulting images combined to produce a single moving picture video; theresult being a video “walkthrough”, or flyover of the environmentthrough which the ball passed; and the video's perspective beingeditable after the ball has completed its flight by reselection of theseed image or desired viewing angle or any other similarity betweenimages as analyzed from the ball's position/orientation/velocity data.

One or multiple cameras may be contained within the ball to create aseries of stereo image pairs captured over the course of a spiralingball's trajectory; the stereo image pairs being representative of theparallax of a pair of human eyes; and this series of series image pairsselected and cultivated based on corresponding flight data such thatonly stereo pairs for a desired perspective from the ball are chosen;and the resulting subset of image-pairs compiled to produce a coherent3-dimensional video “walkthrough” or flyover.

The trajectory trigger may employ an accelerometer or similar device toprovide positioning, velocity and acceleration information.

The trajectory trigger may use an impact sensor to identify theoccurrence of a series of successive bounces to determine the ball'sapproximate trajectory, the estimated timing of its arrival at itsapogee, and its arrival at points of interest along a subsequenttrajectory as the ball continues bouncing. In this regard, thetrajectory trigger may identify patterns in the ball's bouncing behaviorthat are analyzed and stored for use in the actuation of a mechanicalaction from within the ball, or for signaling an action within the ballsuch as an image capture.

The trajectory trigger may use the camera's existing mechanical, opticaland digital processing capabilities to calculate position, velocity andacceleration in flight. For example, auto-focus or range-finding meanscan be used to determine the current distance from a fixed point such asthe earth below. The trajectory trigger may analyze data from successiveimage captures to determine its current distance from a fixed point suchas the earth below, as well as its current velocity and acceleration.

The trajectory trigger can be preset to trigger the camera when itreaches a particular velocity in flight, for example when the camera ismoving at or near its maximum velocity. In this regard, a baseball couldbe thrown at a baseball player to capture video along the pitching path.As the ball begins to slow down, the camera lens could be retracted andinsulated from the batter's impact.

The trajectory trigger may identify and responds to the capture ofparticular captured image. For example, the trajectory trigger cansignal the camera when it detects a human face in the captured frame.Alternatively, the trajectory trigger can signal the camera when itdetects the contrast between the earth and the earth's horizon.

By comparing the clarity of successive image captures as the cameramoves along a trajectory, the trajectory trigger can estimate when it isapproaching the apogee of its trajectory. Because a ball's velocity inrelation to its subject approaches zero as the ball reaches its apogee,the clarity of the subject will remain fairly constant at the apogee.Therefore, if a camera has a fixed depth of field, the trajectorytrigger may use Fourier analysis or other processing methods oversuccessive captured frames while the ball is in flight to determine whenthe rate of change in pixel clarity (i.e. change from low to highfrequency or vice-versa) approaches zero.

The Exterior Surface Defamation Trajectory Changer

The exterior surface deformation trajectory changer is the active meanscontained within the ball of this invention capable of effecting aphysical deformation of the exterior surface of the ball in order toproduce a desired interaction with aerodynamic forces so as to controlthe ball's trajectory. Such a change in trajectory may be expressed asthe favoring of a particular direction or a change in lift.

The purpose of the exterior surface deformation trajectory changer is toenable the ball to move towards a desired subject, shift the trajectoryover a desired path, or stabilize the ball to improve image capturecapability.

The exterior surface deformation trajectory changer may change theexterior surface of the ball irrespective of the ball's currentlocation, orientation or trajectory in order to achieve a desiredtrajectory. For example, the ball may be deformed into an egg-shapeduring flight so the ball effectively changes mid-flight from a bluffbody shape to a streamlined shape with laminar airflow from head totail.

The exterior surface deformation trajectory changer may act on theexterior surface in synchronicity with the revolution of the ball,allowing for individual changes to occur precise areas of the ballrelative to the vector of aerodynamic forces to create a virtualaerodynamic surface. For example, a change made to a succession ofdimples on a golf ball's exterior surface only at the moment when aparticular dimple was on one side of the ball (relative to earth) wouldresult in the ball shifting its trajectory relative to that side. Thisexample illustrates that the function of a trajectory trigger may berequired for the successful operation of exterior surface deformationtrajectory changer.

A trajectory trigger may be used to signal the exterior surfacedeformation trajectory changer, upon the trajectory trigger's analysisof the ball's velocity, position, rotational velocity and other flightdata. The logic of the trajectory trigger signals the deformation at theexterior surface to occur at a precise time in the ball's rotation,allowing for control of surfaces relative to the leading surface at thatmoment, the leeward surface at that moment, the left, right, upper andlower surfaces at that moment.

The exterior surface deformation trajectory changer may be a mechanicalforce, a hydraulic force or any other controllable expression of forceacting from within the ball to effect a change on the exterior surface.

In the preferred embodiment of the trajectory-changer of this invention,a portion of the exterior surface of the ball is constructed using amaterial of substantially flexible property such that corresponding at anumber of points surrounding the balls exterior surface exists anunderlying mechanical actuator which applies an outward or inward forceon the inside surface of the ball's exterior shell. The flexible portionof the shell bulges out in a convex contour or caves in a concavecontour, expressed as a series of points, which change from dimples topimples based on the logic of the trajectory trigger.

Because the ball of this invention is in free rotation, not aligned on aparticular axis to aerodynamic forces like a rocket, it is anticipatedthat the exterior surface deformation trajectory changer must control achange in direction or lift by creating a ripple of changes from pointto point along the exterior surface, with the ripple moving along theball's exterior surface opposite to (and at the rate of) the ball'srotation. In this manner, for example, an aerodynamic “flap” could becreated on a golf ball's lower surface (relative to arriving aerodynamicforces) by creating one row of pimples at the points that were on theball's lower surface at a single moment in time; and at a moment latercreating a second row of pimples at the new points that were on thelower surface, retracting the first set; and then creating a third rowand retracting the second; and continue this action to create a ripplemoving opposite the vector of the ball's rotation, so that the rippleproduced a virtual wall of pimples on the ball's lower surface (relativeto aerodynamic forces acting on the ball), thereby producing a desiredlift.

As described, the exterior surface deformation trajectory changer mayact on the surface of the ball to create an asymmetric conditionrelative to aerodynamic forces acting on the ball.

The exterior surface deformation trajectory changer is also capable ofchanging the ball's trajectory by effecting changes on the surface thatare expressed symmetrically around the ball, in order to decrease dragby creating a thin unseparated layer of turbulent air. In this regard,for example, the dimples of a golf ball of this invention which serve todecrease drag can be modulated in depth and contour for particularwindspeeds, rotational velocities, trajectory mapping goals and otherin-flight performance criteria determined while the ball is in flight.

The golf ball of this invention, with an exterior surface deformationtrajectory changer being signaled by a trajectory trigger, is capable offine-tuning dimple depth, contour and shape for any possible aerodynamicinteraction encountered at any point during the ball's trajectory.

The ball of this invention may be expressed as a golf ball constructedso each concave dimple has a flexible dimple-pit measuring only afraction of the diameter of the entire dimple, capable of responding toslight pressure from within the ball so as to create a convex bumpacting outwardly from the dimple-pit. Pressure on each dimple pit of agolf ball can arrive from the shaft of an electronic solenoid at theball's core, or from the shaft of one electromagnetic solenoid perdimple, arranged to correspond with each dimple beneath the ball'sexterior surface.

As described in the above example, the internal mechanical actuator mayderive its ability to force a change in the ball's exterior surface byelectrical means, such as in the activation of a solenoid. An interiorview of an example golf ball of this type is shown at 400 in FIG. 4. Thegolf ball has an exterior surface with conventional dimples such as at401. Core 402 is a sphere contained within the center of the golf ball,itself containing the trajectory trigger logic. Solenoid 403 is one of aplurality of solenoids mounted on core 402, with shaft 404 extendingoutward to a dimple on the surface of the ball. Each of the solenoids,shafts and corresponding dimples are controlled by connection to atrajectory trigger within core 402 which is processing the ball'svelocity, rotation, acceleration, position and other factors regardingthe ball's trajectory.

An exterior view of the golf ball 400 is shown at 410, with dashed linesillustrating the actuators at the center of the ball. Tips of each shaftat 411 are shown flush with the exterior surface of each respectivedimple. As the golf ball travels at high speed during routine play, theextension of any particular shaft tip is significant in altering theaerodynamic profile of the ball and thus changing its airbornetrajectory. The trajectory trigger bases decisions regarding extensionof a shaft on the current trajectory, orientation, rotational velocity,acceleration and other factors governing the in-flight path of the ball.

Another example of a ball capable of changing its aerodynamicdisposition is shown at FIG. 5. This ball has a core containing a singlesolenoid and shaft similar in its extension and retraction as describedin FIG. 4. Unlike the ball of at FIG. 4 which extends a shaft from asingle dimple when the internal solenoid is actuated, however, the shafttip of the embodiment of FIG. 5 is entirely contained within the balleven when extended. At rest as shown in an interior view at 500, shaft501 is retracted and does not press outwardly on the ball. When thesolenoid is actuated as shown at 510, shaft tip 511 presses outwardlyagainst the interior surface of the ball, changing the shape of the ballas shown at 520, thereby altering the aerodynamic profile of the ball asit travels at high speed. The example shown in this figure illustratedhas an exaggerated egg shape, and is entirely unrealistic, especiallyconsidering that a golf ball is not typically traveling with a distinctleading surface and trailing surface. In an actual application, however,this example is used to suggest that a slight adjustment to the ball'sshape, even one that is nearly imperceptible to the human eye, issufficient to significantly alter a ball's trajectory during ahigh-speed flight.

Because a golf ball requires significant force to initiate ahigh-velocity trajectory, it is anticipated that the solenoid shafts ofFIG. 4 and FIG. 5 might not withstand the initial impact of a golf club.The shafts of FIG. 4 and FIG. 5 are shown as examples of methods toalter the exterior surface of a golf ball, but the ball of thisinvention may benefit from other methods for storing, transferring andexpressing energy using flexible shafts, hollow tubes for the transferof air or liquids, springs, coils, bladders, pneumatic pistons, etc.

A possible method for dynamically changing the exterior surface of theball during flight which could withstand the forces of impact would bein the application of hydraulic pressure. In one embodiment of a golfball with hydraulic-activated dimples would include the exterior layerand a sub-layer divided into cells, one cell per dimple, and with eachcell containing a small amount of hydraulic fluid, and with the cellfurther connected on its inward facing surface to a liquid-carryingtube, connected to a pump at the core of the ball, and activated by thelogic of a trajectory trigger to determine the correct modulation ofpulsed pressures required to achieve a desired aerodynamic interactionas the ball passes through its trajectory.

Another possible method for altering the exterior surface of arecreational ball may be expressed by an internal mechanical actuatorwhich derives its ability to force a change in the ball's shape orexterior surface by air pressure, for example by capturing air in narrowtunnels or pockets; harnessing the moving air and converting it toelectrical energy or a mechanical air pressure pump within the core ofthe ball; and thereby actuating a change to the surface profile of theball in order to change the ball's lift.

The entire actuation system used to change a ball's aerodynamic profileby applying force from within the ball can exist within a thin laminarlayer beneath the exterior surface of the ball, allowing the core of theball to be available for use for other purposes, for example to containa camera as described earlier in this document. As an example of apossible mechanical system that can reside below the exterior surface, asubstantially flat magnetic coil may be embedded in a layer below a golfball's exterior surface and corresponding with a dimple; and the dimpleitself constructed of a material that is responsive to subtle changes inthe surrounding magnetic field; and by activation of the magnetic coilfrom a signal by the logic of a trajectory trigger, the exterior surfaceof the dimple may be slightly altered and thus the ball's trajectory canbe manipulated.

In another embodiment of the invention, the pimples or perturbationsdescribed earlier regarding FIG. 4 are extremely small, perhaps afraction of the diameter of a single dimple, and act as a combinedsystem to alter the aerodynamic profile.

In another embodiment of the invention, the aforementioned perturbationsare as relatively large, where the shifting of a single perturbation canalter the aerodynamic profile of the ball.

The Internally Contained Mechanical Trajectory Changer

The ball of this invention is capable of changing its own trajectorywhile moving at high speed and at a high rotational velocity by creatingpulses of force at precisely timed moments in its airborne trajectory,thereby favoring a particular direction or inducing fine disturbances inairflow capable of increasing lift.

The purpose of the internally contained mechanical trajectory changer isto enable the ball to move towards a desired subject, shift thetrajectory over a desired path, or stabilize the ball to improve imagecapture capability.

The internally contained mechanical trajectory changer is the mechanicalmeans contained and expressed entirely inside the ball of this inventionwhich itself exerts a force that acts on the entire ball so as to causethe ball to achieve a desired aerodynamic interaction with the force ofheadwinds.

The internally contained mechanical trajectory changer may cause theball precess around a moment other than its physical center, therebycausing a desired interaction with aerodynamic forces acting on theball's surface. Controlled by the trajectory trigger, with sensorscapable of detecting the orientation of the ball, the actions of theinternally contained mechanical trajectory changer can be synchronizedwith the spinning of the ball as it spirals through its trajectory. Theball's center of mass may be moving within the ball along the arcedtrajectory independent of the physical center of the ball.

The internally contained mechanical trajectory changer may enable theball to position a perturbation on the ball's exterior by shiftingweight at the core of the ball such that the center of gravity shiftsaway from the center of the ball. By shifting the location of theperturbation, the internally contained mechanical trajectory changerthereby allows the ball to control a desired interaction withaerodynamic forces acting on the ball's surface. With the addition of atrajectory trigger, capable of detecting the orientation of the ball,the actions of the internally contained mechanical trajectory changercan be directed to achieve a particular goal in changing its trajectoryor stabilizing the ball for image capture.

In an example embodiment of an internally contained mechanicaltrajectory changer of this invention, a battery is used to shift a masscontained within the ball, and the resulting counterforce itself causinga shift in the disposition of the outer housing of the ball relative toaerodynamic forces acting on it. In this embodiment, the trajectorytrigger signals the pulsed or intermittent shifting of the interior massbased on the ball's position, velocity, rotation, wind resistance andother flight data.

Unlike a ball that precesses around an off-center center of gravity, theball of this invention can employ an internally contained mechanicaltrajectory changer at a precise moment in the ball's trajectory anddisposition to aerodynamic forces, so that the force from within is ofparticular importance to the exact condition of the ball at that givenpoint. The movement of a mass at the core of the ball synchronizedopposite the spin direction of the ball allows the ball to control,direct and inhibit the precessing of the exterior surface of the ballaround its center of gravity.

While the ball of this invention is anticipated to be a sphere,generally symmetric with respect to aerodynamic forces acting upon it,the ball may have one or more asymmetric, fixed perturbations on itsexterior surface. Such a perturbation may exist at a small fraction ofthe diameter of the size of the ball, and for balls that enter ahigh-speed trajectory it is anticipated that the perturbation may sosmall as to be nearly imperceptible to the human touch. Such a smallperturbation, capable of disrupting laminar airflow across the ballssurface, may provide a suitable aerodynamic impact such that the ball'sdirection, lift and stability are entirely controllable when theperturbation is maintained in a fixed position as the ball moves throughits trajectory.

An internally contained mechanical trajectory changer, continuallyshifting an internal mass in a fixed direction independent of the spinof the ball, can move the center of mass to favor a disposition where anexterior perturbation interacts with headwinds in order to either changethe ball's trajectory towards a desired direction or stabilize theexterior surface of the ball so an embedded camera is advantaged in itsview of a desired subject.

The internal mass may be moved substantially so the ball's center ofmass is at the front of the ball relative to aerodynamic forces actingon the exterior of the ball.

The internal mass may be spun within the ball in counter revolution toaerodynamic forces acting on the surface of the ball in order to, forexample, position a perturbation on the ball's surface at a desireddisposition relative to headwinds for the purpose of changing directionor stabilizing the picture-taking orientation of an embedded camera.

The internal mass may be spun within the ball to create a gyroscopewhich favors the position of a perturbation on the ball's surface at adesired disposition relative to headwinds for the purpose of changingdirection or stabilizing the picture-taking orientation of an embeddedcamera.

A ball with a slight perturbation as describe by the above embodiment isa unique instance of a recreational flying object that is predominatelyspherical in shape, yet moving and spinning at a velocity where asubtle, controlled expression of a shift in inertial forces can producea desired change in the airborne trajectory.

The trajectory trigger may control the operation of a motor which has ahousing affixed to the interior surface of the ball's exterior housing;and the motor has a shaft extending to the opposite end of the ball; andon the shaft is a metal weight; and the center of the metal weightrepresents the ball's center of mass so that the metal weight is alwaysat the leading portion of the ball when in flight; and with a dimpleexisting on the exterior surface of the ball at a point on the side ofthe ball away from its leading or trailing surface; and the motorengaged while the ball is in flight so that the counter-forces ofrotation acting on the exterior surface of the ball by attachment to themotor housing cause the dimple to continually re-align itself on oneside of the ball; and the realignment of the dimple creates aerodynamicdrag on that side of the ball, changing the trajectory so that the ballshifts toward that side.

The above example allows a dimple to be rotated to a particular side ofa ball while in flight, effectively using aerodynamic drag to pull theball in that direction. If the motor of the above example is mounted ona gimbal and the gimbal is affixed to the interior surface of the ball'sexterior housing, the dimple could be rotated to favor a particularside, as well as towards the leading or trailing surfaces of the ball inflight.

The ball of FIG. 4 as earlier described one in which the shafts of anumber of solenoids extended from the ball's core to the exteriorsurface of the ball. If, however, the shafts of the ball of FIG. 4 wereshortened so they did not approach the point of interaction with theexterior surface of the ball, and if instead a small weight ofmeaningful mass were placed at the end of each shaft, the ball'strajectory could be impacted by the extension and retraction of theshafts with no expression on the outer surface of the ball. Furthermore,with the addition of a trajectory trigger, the modulated extension andretraction of selective shafts could effect a change in the ball'sdisposition to aerodynamic forces such that its center of lift wascontrollable entirely from within the ball. On a ball of this inventionwith a single fixed convex pimple on its exterior surface, this type ofinternally contained mechanical trajectory changer could be used toensure that the pimple was, even while spiraling around the ball,favoring the left side of the ball enough to pull the ball to the left.

It is possible for an internally contained mechanical trajectory changerto exist just beneath the exterior surface of the ball, leaving thevolume of the core available for other purposes. As an example of aninternally contained mechanical trajectory changer of this type, a golfball may have, beneath its exterior surface, a layer of magnetic Ferrofluid. Immersed within the Ferro fluid, and positioned to correspondwith each dimple of the golf ball is a magnetic coil activated by thetrajectory trigger. When the magnetic coils are pulsed with electricity,the Ferro fluid in the immediate area of the coil solidifies, creating aslight shift in the center of mass and thereby causing enough of adisturbance so as to create an asymmetry in the ball's disposition toaerodynamic forces acting on it, and thus creating a controllable changein trajectory.

In another embodiment of the internally contained mechanical trajectorychanger, a mechanical force applied at one endpoint of the axis ofrotation of a gyroscope in a vector perpendicular to that axis isexpressed as counterforce on the housing of the ball. It is anticipatedthat the mechanical means for applying force on the gyroscope may be byattachment of one end of its rotational axis to a motor or solenoid.

In another embodiment of an internally contained mechanical trajectorychanger, three solenoids are housed within the ball with shafts atrespective x, y and z axes, with each solenoid controllable by thetrajectory trigger. The actuation of a particular solenoid's shaft wouldbe expressed as an opposite force acting on the ball's housing.

An internally contained mechanical trajectory changer can be used togenerate lift by creating a turbulence-inducing vibration when a ballenters a high-speed trajectory. This turbulence, if existing in a thin,unseparated layer of air, can reduce drag by insulating the ball'ssurface with the high-speed layer of moving air.

Additional Applications for the Trajectory Trigger

The trajectory trigger may trigger a flash at or near the camera triggerpoint, to illuminate the subject.

The trajectory trigger may activate an LED or audible signal in advanceof the camera trigger point, to signal that an image will shortly becaptured.

The trajectory trigger may activate an LED or audible signal in advanceof the camera trigger point, to signal that the desired image has beentaken and that the ball can be retrieved.

In the preferred embodiment of the ball of this invention, normalizedimages representing the ground-based target subject are transmittedwirelessly to the ball's user. It is anticipated that the ball mayinclude hardwired communications such as a USB or Firewire port toprovide image data to the user upon completion of the ball's trajectory.

Information sensed and analyzed by the trajectory trigger may be storedor transmitted for uses other than related to the ball's own flight. Forexample, velocity information used to alter the ball's trajectory inflight may be communicated to a ground-based control system for display.In another example similar to the “black box” of commercial airplanes,the information from a ball's trajectory may be made stored by thetrajectory trigger and later provided by connection or transmission toan external system.

Information sensed and analyzed by the trajectory trigger may betransmitted for immediate processing by a ground-based unit separatefrom the ball, and then returned to the trajectory trigger by aground-based transmitter for the trajectory trigger's continuedoperation in signaling an action from with the ball.

The trajectory trigger within a particular ball may use its owntransmitter and receiver to send information to and receive informationfrom a second ball that is also in-flight, to determine its spatialrelationship in flight to the second ball and thereby can initiateself-contained means to change trajectory for collision avoidance.

The Location Transmitter

In another embodiment of the ball of this invention, the ball contains acamera and a trajectory trigger and a receiver capable of receivingground-based signals; and a separate ground-based location transmitterthat sends its location to the receiving unit; and logic within thetrajectory trigger that signals the camera when A) the received locationinformation that defines a subject for image-taking is framed within theairborne camera's field of view AND ALSO B) the trajectory triggerdetermines that the ball is at an optimal point for picture taking inits trajectory (i.e. at its apogee). In this embodiment, because thecamera within the airborne ball may itself be spiraling as the ballspins, the trajectory trigger must use its positioning information todetermine an exact moment (or series of moments) to capture images ofthe subject.

It should be noted that, unlike airborne cameras of prior art which maybe immediately triggered by a ground-based transmitter, the cameracontained within the ball of this invention as described in the aboveembodiment is not itself immediately triggered by the transmitter. Thelocation transmitter of this invention sends a constant stream oflocation information which is thereby available to the ball's internaltrajectory trigger as it determines the best location in the ball'strajectory to capture an image of the subject at the transmitter'slocation.

In the above embodiment, the location transmitter is ground-based andhand-held by the person who threw the ball into its trajectory. Theresulting images taken by the ball's internal camera are that of theground-based subject near the transmitter.

In another embodiment of the ball of this invention, the locationtransmitter may be stored within the ball, and detachable from the ballwhen in use. If the ball is thrown in the air with the locationtransmitter still contained within its housing, the location transmitteris disabled and the trajectory trigger uses its trajectory data todetermine when to capture an image. When the location transmitter isremoved from the ball, however, the location transmitter beginstransmitting information to the trajectory trigger, and the ball ispitched into a trajectory while the transmitter remains behind.

In another embodiment of the ball of this invention, the locationtransmitter is ball-shaped, and can be thrown separately from therecreational ball. In this way, the camera within the airbornerecreational ball can be signaled by the trajectory trigger to “follow”the location transmitter's separate trajectory, capturing images over arange of subjects. The camera's focus is separately maintained to focuson a field of view beyond the airborne location transmitter whileremaining fixed on the direction of the airborne location transmitter.

In an example operation of this embodiment, one person pitches therecreational ball high up into the air, and a second person throws thelocation transmitter in a lateral trajectory over a range ofground-based subjects. The trajectory trigger analyzes the ball'srotation and location, triggering the camera to capture all of thesubjects in the field of view past the airborne location transmitter, asif the camera were smoothly panning and scanning over the entire areaover which the location transmitter was thrown.

In another embodiment of the ball of this invention, the trajectorytrigger can store location information received from the locationtransmitter, and later use this information to trigger the camera whenthe camera is at an optimal point in its own trajectory to capture thedesired subjects. In this embodiment, the location transmitter is“training” the trajectory trigger before the ball containing thetrajectory trigger and camera are thrown into the air. This embodimentallows a ball containing a location transmitter to be thrown before arecreational ball containing a camera, by the same person.

To further illustrate an example of this embodiment, a recreational ballcontaining a camera, trajectory trigger and receiver is held separatelyfrom a location transmitter. The person first throws the locationtransmitter over a group of friends, while the trajectory trigger withinthe held recreational ball receives and stores this locationinformation. The person then throws the recreational ball into the air,at which time the stored location information is retrieved by thetrajectory trigger. Using this location information as well as its ownpositioning information, the trajectory trigger delays until therecreational ball is nearing its apogee and then signals the camera tocapture frames only from perspectives which would could be compiled as avideo as a smooth, continuous panning shot across and high above thegroup of friends.

The Training Logic and Storage Unit

In another embodiment of the recreational ball of this invention, theball entirely contains a trajectory trigger; and a camera that istriggered by the trajectory trigger; and a training logic and storageunit described herein. The training logic and storage unit enables theball to be “trained” during a first stage of play, prior to entering asecond stage when the ball is thrown high up into the image-capturetrajectory. The purpose of the training logic and storage unit is totrain the ball before its main flight so that the ball's camera cancapture the trained points of interest to during the second-stage imagecapture flight.

The “training” accomplished by the training logic and storage unitoccurs as follows: When the training logic and storage unit is turnedon, it begins storing data that reflects the current location of theball (available to and provided by the trajectory trigger), and thelength of time that the ball is held at the location. The recreationalball containing the training logic and storage unit is then passedacross an area of interest. To illustrate and example, a line of peopleare standing on a beach and the ball of this embodiment is carried byone person along the line. When the ball is held near the head of eachperson in line, the person holding it pauses for few seconds beforemoving to the next person. During this time, the training logic andstorage unit is storing the physical location near the head of eachperson in line, and the approximate amount of time paused near eachhead. When the person holding the ball reaches the end of the line, heturns the training logic and storage unit off so the training logic andstorage unit retains the stored location-time data in memory but is nolonger storing new location-time information. Then, the ball is pitchedhigh up into the air. The trajectory trigger has access to locationinformation described earlier in this document, but also has access tothe location-time information previously stored by the training logicand storage unit. The trajectory trigger uses the training logic andstorage unit information to direct the camera toward each point ofinterest, continuing to capture frames according to the location and thetime “trained” by the training logic and storage unit. The resultingcaptured frames, when compiled together, produces a viewable video whichshows a scene from the ball's perspective of the people standing alongthe beach, focused towards each person's head for a short pause, andthen panning or scanning along the line to the next person—as trained.The trajectory trigger has calculated the appropriate moments when thecamera is capable of meeting its trained objective, according to thelocation-time data stored by the training logic and storage unit.

It is anticipated that the video or image frames captured under theabove embodiment may require post-processing by an independent imageprocessing unit if, for example, the captured image data issignificantly more than required for a single desirable tracking shot.

It is anticipated that the training logic and storage unit has access tomemory and logic within the trajectory trigger, including accelerometer,GPS, and other sensor readings, to provide the current location of theball during training. It is also anticipated that the training logic andstorage unit may use pre-flight image data captured by the camera, inits capacity identifying and storing the current location of the ballduring training.

It is anticipated that the training logic and storage unit may be movingat high speed within a spinning, spiraling or precessing ball whilestill in its training mode, and can depend on the trajectory trigger tosignal appropriate locations and times for picture capture, which arestored during training and recovered later by the trajectory triggerduring the ball's non-training flight. In this regard, the ball can betossed from one person to another during training, and then thrown highabove for the image capture stage.

Gravity-Assisted Camera Aperture Stabilizer

In another embodiment of this invention, a spherical object such as arecreational ball can contain a camera which is independent from theball's exterior housing, so that the camera's orientation is governed bygravitational force and the inertial forces moving the ball through itstrajectory, but generally not impacted by rotational forces acting onthe ball.

In this embodiment of the ball of this invention, the embedded camera ismounted within the ball, but independent of the ball's exterior housingso that when the ball is thrown into the air, the camera apertureremains generally stable in a direction fixed with respect togravitational force. This enables the ball, for example, to take stillimages and video in an earth-facing orientation while the ball isthrown, spun or spiraled into the air.

Other Innovations of the Ball of this Invention

It is anticipated that the ball of this invention may be self-powered orenhanced by energy derived upon impact with a solid body such as a golfclub, using a piezo element or other process for converting, storing andutilizing such energy.

It is anticipated that the ball of this invention, particularly a ballconstructed of a translucent material and containing a camera andtrajectory trigger, may be self-powered or enhanced by energy generatedby passive solar cells encapsulated beneath the ball's exterior surface.

It is anticipated that the ball of this invention may be self-powered orenhanced by the storage of compressive forces and controlled release ofsuch forces. For example, a golf ball of this invention may be designedso that impact with a golf club forces a volume of liquid through avalve and into a pressurized bladder, and the liquid's subsequentrelease from the bladder be controlled over a prolonged period; andrelease of the liquid and its application in changing the ball'strajectory be governed by information analyzed by a trajectory trigger.

It is anticipated that the uniquely innovative combined elements of thisinvention, for example 1) the combination of (1 a) an internaltrajectory trigger and (1 b) camera, or 2) the combination of in (2 a)internal trajectory trigger with (2 b) means for changing trajectory by(2 b-1) altering the aerodynamic profile by deforming the exteriorsurface of a flying object from within the flying object or (2 b-2) byshifting mass or an inertial force contained entirely in the interior ofa flying object, are all applicable to other recreational airborneobjects of non-spherical shapes.

It is anticipated that while the recreational ball of this invention isexpected to encounter aerodynamic forces as the ball is pitched into theair, it is possible to create an embodiment that operates while in aliquid, for example in a recreational pool or in an ocean, and with allthe components working to create a desired effect for the operatingenvironment.

It is anticipated that for a sphere of a given volume and mass, aninternal timer may be sufficient to approximate position information.

It is anticipated that one or more improvements described by theinvention described herein may be incorporated into standardrecreational balls or other recreational airborne objects such asbouncing balls, tennis balls, golf balls and baseballs.

CONCLUSION

The foregoing Detailed description has disclosed to those skilled in therelevant disciplines how to make and use the ball of the invention andhas also disclosed the best mode presently known to the inventor ofmaking and using such ball. It will however be immediately apparent tothose skilled in the relevant disciplines that balls made according tothe principles of the invention may be implemented in many ways otherthan the ways disclosed herein. For example, the ball may be made of anypresent or future technology that serves to provide position andorientation information relative to the ground-based subject. Further,although a spherical shape is described, aspects of embodiments of theinvention described herein may be applicable to other aerodynamicshapes. For all of the foregoing reasons, the Detailed Description is tobe regarded as being in all respects exemplary and not restrictive, andthe breadth of the invention disclosed herein is to be determined notfrom the Detailed Description, but rather from the claims as interpretedwith the full breadth permitted by the patent laws.

1. A projectile apparatus comprising: a substantially spherical housingsuitable for being projected into an airborne trajectory; at least oneorientation sensor positioned in the housing that determines theorientation of the housing along its airborne trajectory; at least onedeformable perturbation on the surface of the housing, the at least onedeformable perturbation having an exterior surface and an undersurface;at least one actuator positioned in the housing for deforming theexterior surface of the at least one perturbation from a first shape toa second shape; and a processing unit electrically connected to the atleast one orientation sensor and the at least one actuator; wherein theprocessing unit instructs the at least one actuator to deform the atleast one perturbation from the first shape to the second shape inresponse to a signal from the at least one orientation sensor.
 2. Theprojectile apparatus of claim 1 wherein the at least one actuator is anelectromagnetic solenoid having a moveable shaft extending therefrom,the shaft having a distal end disposed in close proximity to theundersurface of the at least one deformable perturbation, the solenoidwithdrawing the shaft to deform the at least one perturbation to thefirst shape and the solenoid extending the shaft to deform the at leastone perturbation to the second shape.
 3. The projectile apparatus ofclaim 1 wherein the at least one actuator is a pump, the pumppressurizing the undersurface of the at least one deformableperturbation to deform the perturbation from the first shape to thesecond shape.
 4. The projectile apparatus of claim 1 wherein the atleast one actuator is a magnetic coil to create a magnetic field inclose proximity to the undersurface of the at least one deformableperturbation; the processor activates the magnetic coil to create amagnetic field; the undersurface of the at least one deformableperturbation is constructed of a material responsive to the magneticfield; and the undersurface, in response to the magnetic field, deformsthe at least one deformable perturbation from the first shape to thesecond shape.
 5. The projectile apparatus of claim 1 further comprisinga camera, the processing unit electrically connected to the camera,wherein the processing unit triggers an image capture in response to asignal from the at least one orientation sensor.
 6. The projectileapparatus of claim 1 wherein the apparatus is a golf ball and the atleast one deformable perturbation is a golf ball dimple.
 7. A projectileapparatus comprising: a substantially spherical housing suitable forbeing projected into an airborne trajectory; at least one positionsensor positioned in the housing that determines the position of thehousing along its airborne trajectory; at least one deformableperturbation on the surface of the housing, the at least one deformableperturbation having an exterior surface and an undersurface; at leastone actuator positioned in the housing for deforming the exteriorsurface of the at least one perturbation from a first shape to a secondshape; and a processing unit electrically connected to the at least oneposition sensor and the at least one actuator; wherein the processingunit instructs the at least one actuator to deform the at least oneperturbation from the first shape to the second shape in response to asignal from the at least one position sensor.
 8. The projectileapparatus of claim 7 wherein the at least one actuator is anelectromagnetic solenoid having a moveable shaft extending therefrom,the shaft having a distal end disposed in close proximity to theundersurface of the at least one deformable perturbation, the solenoidwithdrawing the shaft to deform the at least one perturbation to thefirst shape and the solenoid extending the shaft to deform the at leastone perturbation to the second shape.
 9. The projectile apparatus ofclaim 7 wherein the at least one actuator is a pump, the pumppressurizing the undersurface of the at least one deformableperturbation to deform the perturbation from the first shape to thesecond shape.
 10. The projectile apparatus of claim 7 wherein the atleast one actuator is a magnetic coil to create a magnetic field inclose proximity to the undersurface of the at least one deformableperturbation; the processor activates the magnetic coil to create amagnetic field; the undersurface of the at least one deformableperturbation is constructed of a material responsive to the magneticfield; and the undersurface, in response to the magnetic field, deformsthe at least one deformable perturbation from the first shape to thesecond shape.
 11. The projectile apparatus of claim 7 further comprisinga camera, the processing unit electrically connected to the camera,wherein the processing unit triggers an image capture in response to asignal from the at least one position sensor.
 12. The projectileapparatus of claim 7 wherein the apparatus is a golf ball and the atleast one deformable perturbation is a golf ball dimple.
 13. Aprojectile apparatus comprising: a substantially spherical housingsuitable for being projected into an airborne trajectory; at least oneorientation sensor positioned in the housing that determines theorientation of the housing along its airborne trajectory; at least oneactuator positioned in the housing for shifting the center of mass ofthe apparatus away from the center of the housing; and a processing unitelectrically connected to the at least one orientation sensor and the atleast one actuator; wherein the processing unit, in response to a signalfrom the at least one orientation sensor, activates the at least oneactuator to shift the center of mass of the apparatus away from thecenter of the housing.
 14. The projectile apparatus of claim 13 whereinthe at least one actuator is an electromagnetic solenoid having amoveable shaft extending therefrom, the solenoid moving the shaft toshift the center of mass of the apparatus away from the center of thehousing.
 15. The projectile apparatus of claim 13 wherein the at leastone actuator is an electric motor having a shaft; the shaft having aproximal end extending from within the motor and a distal end away fromthe motor; the shaft having a fixed mass at its distal end; and whereinthe motor rotates the shaft to shift the center of mass of the apparatusaway from the center of the housing.
 16. The projectile apparatus ofclaim 13 wherein the at least one actuator is an electromagnetic coildisposed away from the center of the housing and a sealed cell ofmagnetic ferro fluid in close proximity to the magnetic coil, themagnetic coil creating a magnetic field in response to a signal from theprocessor, and wherein the magnetic field changes the density of atleast a portion of the ferro fluid to shift the center of mass of theapparatus away from the center of the housing.
 17. The projectileapparatus of claim 13 further comprising at least one perturbation onthe surface of the housing wherein the processing unit activates theactuator in response to a determination of the orientation of the atleast one perturbation with respect to aerodynamic forces acting on thehousing.
 18. The projectile apparatus of claim 17 wherein the at leastone perturbation is at least one of a convex shape with respect to theexterior surface of the substantially spherical housing and a concaveshape with respect to the exterior surface of the substantiallyspherical housing.
 19. The projectile apparatus of claim 13 furthercomprising at least one perturbation on the surface of the housingwherein the processing unit activates the actuator in response to adetermination of the orientation of the at least one perturbation withrespect to ground.
 20. The projectile apparatus of claim 19 wherein theat least one perturbation is at least one of a convex shape with respectto the exterior surface of the substantially spherical housing and aconcave shape with respect to the exterior surface of the substantiallyspherical housing.